Make agents multiply acceleration by delta

This fixes the fact that acceleration wasn't treated as acceleration
  over time, but was instant acceleration.

CHANGELOG.md

@@ -2,6 +2,10 @@
 
 This document lists new features, improvements, changes, and bug fixes in every release of the add-on.
 
+## Master ##
+
+- Acceleration for agents are multiplied by delta so values are acceleration per second. The demos' values have been increased significantly to compensate.
+
 ## Godot Steering AI Framework 2.1.0 ##
 
 ### Features ###

project/demos/Arrive/ArriveDemo.gd

@@ -1,7 +1,7 @@
 extends Node
 
-export (float, 0, 2000, 40) var linear_speed_max := 800.0 setget set_linear_speed_max
+export (float, 0, 3200, 100) var linear_speed_max := 800.0 setget set_linear_speed_max
-export (float, 0, 200, 2.0) var linear_acceleration_max := 80.0 setget set_linear_acceleration_max
+export (float, 0, 10000, 100) var linear_acceleration_max := 80.0 setget set_linear_acceleration_max
 export (float, 0, 100, 0.1) var arrival_tolerance := 25.0 setget set_arrival_tolerance
 export (float, 0, 500, 10) var deceleration_radius := 125.0 setget set_deceleration_radius
 

project/demos/Arrive/ArriveDemo.tscn

@@ -12,6 +12,10 @@ radius = 23.2163
 
 [node name="ArriveDemo" type="Node"]
 script = ExtResource( 3 )
+linear_speed_max = 1600.0
+linear_acceleration_max = 5000.0
+arrival_tolerance = 35.0
+deceleration_radius = 180.0
 
 [node name="BackgroudLayer" parent="." instance=ExtResource( 4 )]
 

project/demos/Arrive3d/Arrive3dDemo.tscn

@@ -33,6 +33,11 @@ albedo_color = Color( 0.0941176, 0.235294, 0.486275, 1 )
 
 [node name="Arrive3dDemo" type="Node"]
 script = ExtResource( 3 )
+linear_speed_max = 50.0
+linear_acceleration_max = 53.2
+deceleration_radius = 10.8
+angular_speed_max = 550
+angular_accel_max = 910
 
 [node name="Arriver" type="KinematicBody" parent="."]
 script = ExtResource( 4 )

project/demos/Arrive3d/Seek3dDemo.gd

@@ -1,13 +1,13 @@
 extends Node
 
-export (float, 0, 50, 0.1) var linear_speed_max := 10.0 setget set_linear_speed_max
+export (float, 0, 100, 5) var linear_speed_max := 10.0 setget set_linear_speed_max
-export (float, 0, 50, 0.1) var linear_acceleration_max := 1.0 setget set_linear_acceleration_max
+export (float, 0, 100, 0.1) var linear_acceleration_max := 1.0 setget set_linear_acceleration_max
 export (float, 0, 50, 0.1) var arrival_tolerance := 0.5 setget set_arrival_tolerance
 export (float, 0, 50, 0.1) var deceleration_radius := 5.0 setget set_deceleration_radius
-export (int, 0, 359, 2) var angular_speed_max := 270 setget set_angular_speed_max
+export (int, 0, 1080, 10) var angular_speed_max := 270 setget set_angular_speed_max
-export (int, 0, 359, 2) var angular_accel_max := 45 setget set_angular_accel_max
+export (int, 0, 2048, 10) var angular_accel_max := 45 setget set_angular_accel_max
-export (int, 0, 180, 2) var align_tolerance := 5 setget set_align_tolerance
+export (int, 0, 178, 2) var align_tolerance := 5 setget set_align_tolerance
-export (int, 0, 359, 2) var angular_deceleration_radius := 45 setget set_angular_deceleration_radius
+export (int, 0, 180, 2) var angular_deceleration_radius := 45 setget set_angular_deceleration_radius
 
 onready var target := $MouseTarget
 onready var arriver := $Arriver

project/demos/AvoidCollisions/AvoidCollisionsDemo.gd

@@ -1,7 +1,7 @@
 extends Node
 
-export (float, 0, 2000, 40) var linear_speed_max := 350.0 setget set_linear_speed_max
+export (float, 0, 1000, 40) var linear_speed_max := 350.0 setget set_linear_speed_max
-export (float, 0, 100, 2) var linear_acceleration_max := 40.0 setget set_linear_accel_max
+export (float, 0, 4000, 2) var linear_acceleration_max := 40.0 setget set_linear_accel_max
 export (float, 0, 500, 10) var proximity_radius := 140.0 setget set_proximity_radius
 export var draw_proximity := true setget set_draw_proximity
 

project/demos/AvoidCollisions/AvoidCollisionsDemo.tscn

@@ -8,7 +8,8 @@
 
 [node name="AvoidCollisionsDemo" type="Node"]
 script = ExtResource( 2 )
-linear_speed_max = 400.0
+linear_speed_max = 520.0
+linear_acceleration_max = 2250.0
 proximity_radius = 100.0
 
 [node name="BackgroudLayer" parent="." instance=ExtResource( 5 )]

project/demos/Face/FaceDemo.gd

@@ -1,7 +1,7 @@
 extends Node
 
-export (int, 0, 359, 2) var angular_speed_max := 120 setget set_angular_speed_max
+export (int, 0, 1080, 2) var angular_speed_max := 120 setget set_angular_speed_max
-export (int, 0, 359, 2) var angular_accel_max := 10 setget set_angular_accel_max
+export (int, 0, 2048, 2) var angular_accel_max := 10 setget set_angular_accel_max
 export (int, 0, 180, 2) var align_tolerance := 5 setget set_align_tolerance
 export (int, 0, 359, 2) var deceleration_radius := 45 setget set_deceleration_radius
 export (float, 0, 1000, 40) var player_speed := 600.0 setget set_player_speed

project/demos/Face/FaceDemo.tscn

@@ -15,8 +15,9 @@ radius = 37.1052
 
 [node name="FaceDemo" type="Node"]
 script = ExtResource( 2 )
-angular_speed_max = 160
+angular_speed_max = 662
-angular_accel_max = 16
+angular_accel_max = 924
+deceleration_radius = 136
 
 [node name="BackgroudLayer" parent="." instance=ExtResource( 5 )]
 

project/demos/FollowPath/FollowPathDemo.gd

@@ -1,7 +1,7 @@
 extends Node
 
 export (float, 0, 2000, 40) var linear_speed_max := 600.0 setget set_linear_speed_max
-export (float, 0, 200, 10.0) var linear_acceleration_max := 40.0 setget set_linear_acceleration_max
+export (float, 0, 9000, 10.0) var linear_acceleration_max := 40.0 setget set_linear_acceleration_max
 export (float, 0, 100, 0.1) var arrival_tolerance := 10.0 setget set_arrival_tolerance
 export (float, 0, 500, 10) var deceleration_radius := 100.0 setget set_deceleration_radius
 export (float, 0, 5, 0.1) var predict_time := 0.3 setget set_predict_time

project/demos/FollowPath/FollowPathDemo.tscn

@@ -12,7 +12,8 @@ radius = 24.1954
 
 [node name="FollowPathDemo" type="Node"]
 script = ExtResource( 4 )
-linear_acceleration_max = 50.0
+linear_speed_max = 920.0
+linear_acceleration_max = 3740.0
 deceleration_radius = 200.0
 
 [node name="BackgroudLayer" parent="." instance=ExtResource( 5 )]

project/demos/GroupBehaviors/GroupBehaviorsDemo.gd

@@ -3,11 +3,11 @@ extends Node
 onready var spawner := $Spawner
 
 export (float, 0, 2000, 40.0) var linear_speed_max := 600.0 setget set_linear_speed_max
-export (float, 0, 200, 2.0) var linear_accel_max := 40.0 setget set_linear_accel_max
+export (float, 0, 9000, 2.0) var linear_accel_max := 40.0 setget set_linear_accel_max
 export (float, 0, 300, 2.0) var proximity_radius := 140.0 setget set_proximity_radius
-export (float, 0, 10000, 100) var separation_decay_coefficient := 2000.0 setget set_separation_decay_coef
+export (float, 0, 200000, 250) var separation_decay_coefficient := 2000.0 setget set_separation_decay_coef
 export (float, 0, 2, 0.1) var cohesion_strength := 0.1 setget set_cohesion_strength
-export (float, 0, 6, 0.1) var separation_strength := 1.5 setget set_separation_strength
+export (float, 0, 10, 0.2) var separation_strength := 1.5 setget set_separation_strength
 export var show_proximity_radius := true setget set_show_proximity_radius
 
 

project/demos/GroupBehaviors/GroupBehaviorsDemo.tscn

@@ -8,8 +8,11 @@
 
 [node name="GroupBehaviorsDemo" type="Node"]
 script = ExtResource( 3 )
+linear_accel_max = 4234.0
+proximity_radius = 158.0
+separation_decay_coefficient = 121500.0
 cohesion_strength = 0.2
-separation_strength = 4.5
+separation_strength = 8.8
 
 [node name="BackgroudLayer" parent="." instance=ExtResource( 5 )]
 

project/demos/PursueSeek/PursueAndSeekDemo.gd

@@ -1,7 +1,7 @@
 extends Node
 
 export (float, 0, 2000, 40) var linear_speed_max := 120.0 setget set_linear_speed_max
-export (float, 0, 200, 2) var linear_accel_max := 10.0 setget set_linear_accel_max
+export (float, 0, 2000, 20) var linear_accel_max := 10.0 setget set_linear_accel_max
 export (float, 0, 5, 0.1) var predict_time := 1.0 setget set_predict_time
 
 onready var pursuer := $BoundaryManager/Pursuer

project/demos/PursueSeek/PursueAndSeekDemo.tscn

@@ -10,8 +10,8 @@
 
 [node name="PursueVSSeekDemo" type="Node"]
 script = ExtResource( 4 )
-linear_speed_max = 400.0
+linear_speed_max = 1280.0
-linear_accel_max = 80.0
+linear_accel_max = 1040.0
 predict_time = 1.1
 
 [node name="BackgroudLayer" parent="." instance=ExtResource( 7 )]

project/demos/PursueSeek/Pursuer.gd

@@ -25,7 +25,7 @@ func _physics_process(delta: float) -> void:
 	_blend.calculate_steering(accel)
 
 	agent.angular_velocity = clamp(
-		agent.angular_velocity + accel.angular, -agent.angular_speed_max, agent.angular_speed_max
+		agent.angular_velocity + accel.angular * delta, -agent.angular_speed_max, agent.angular_speed_max
 	)
 	agent.angular_velocity = lerp(agent.angular_velocity, 0, _angular_drag)
 
@@ -33,7 +33,7 @@ func _physics_process(delta: float) -> void:
 
 	var linear_velocity := (
 		GSAIUtils.to_vector2(agent.linear_velocity)
-		+ (GSAIUtils.angle_to_vector2(rotation) * -agent.linear_acceleration_max)
+		+ (GSAIUtils.angle_to_vector2(rotation) * -agent.linear_acceleration_max * delta)
 	)
 	linear_velocity = linear_velocity.clamped(agent.linear_speed_max)
 	linear_velocity = linear_velocity.linear_interpolate(Vector2.ZERO, _linear_drag_coefficient)
@@ -51,14 +51,14 @@ func setup(predict_time: float, linear_speed_max: float, linear_accel_max: float
 
 	var orient_behavior := GSAIFace.new(agent, _direction_face)
 	orient_behavior.alignment_tolerance = deg2rad(5)
-	orient_behavior.deceleration_radius = deg2rad(5)
+	orient_behavior.deceleration_radius = deg2rad(30)
 
 	_blend = GSAIBlend.new(agent)
 	_blend.add(behavior, 1)
 	_blend.add(orient_behavior, 1)
 
-	agent.angular_acceleration_max = deg2rad(40)
+	agent.angular_acceleration_max = deg2rad(1080)
-	agent.angular_speed_max = deg2rad(90)
+	agent.angular_speed_max = deg2rad(360)
 	agent.linear_acceleration_max = linear_accel_max
 	agent.linear_speed_max = linear_speed_max
 

project/demos/Quickstart/Agent.gd

@@ -77,7 +77,7 @@ func _ready() -> void:
 	# How close for the agent to be 'aligned', if not exact.
 	face.alignment_tolerance = deg2rad(5)
 	# When to start slowing down
-	face.deceleration_radius = deg2rad(45)
+	face.deceleration_radius = deg2rad(60)
 
 	# LookWhereYouGo turns the agent to keep looking towards its direction of travel. It will only
 	# be enabled while the agent is at low health.
@@ -85,7 +85,7 @@ func _ready() -> void:
 	# How close for the agent to be 'aligned', if not exact
 	look.alignment_tolerance = deg2rad(5)
 	# When to start slowing down.
-	look.deceleration_radius = deg2rad(45)
+	look.deceleration_radius = deg2rad(60)
 
 	# Behaviors that are not enabled produce 0 acceleration.
 	# Adding our fleeing behaviors to a blend. The order does not matter.
@@ -118,7 +118,7 @@ func _physics_process(delta: float) -> void:
 
 	# We add the discovered acceleration to our linear velocity. The toolkit does not limit
 	# velocity, just acceleration, so we clamp the result ourselves here.
-	velocity = (velocity + Vector2(acceleration.linear.x, acceleration.linear.y)).clamped(
+	velocity = (velocity + Vector2(acceleration.linear.x, acceleration.linear.y) * delta).clamped(
 		agent.linear_speed_max
 	)
 
@@ -131,7 +131,7 @@ func _physics_process(delta: float) -> void:
 
 	# We then do something similar to apply our agent's rotational speed.
 	angular_velocity = clamp(
-		angular_velocity + acceleration.angular, -agent.angular_speed_max, agent.angular_speed_max
+		angular_velocity + acceleration.angular * delta, -agent.angular_speed_max, agent.angular_speed_max
 	)
 	# This applies drag on the agent's rotation, helping it slow down naturally.
 	angular_velocity = lerp(angular_velocity, 0, angular_drag)

project/demos/Quickstart/Player.gd

@@ -40,13 +40,13 @@ func _physics_process(delta: float) -> void:
 
 	direction = GSAIUtils.angle_to_vector2(rotation)
 
-	velocity += direction * acceleration_max * movement
+	velocity += direction * acceleration_max * movement * delta
 	velocity = velocity.clamped(speed_max)
 	velocity = velocity.linear_interpolate(Vector2.ZERO, 0.1)
 	velocity = move_and_slide(velocity)
 
 	face.calculate_steering(accel)
-	angular_velocity += accel.angular
+	angular_velocity += accel.angular * delta
 	angular_velocity = clamp(angular_velocity, -agent.angular_speed_max, agent.angular_speed_max)
 	angular_velocity = lerp(angular_velocity, 0, 0.1)
 	rotation += angular_velocity * delta

project/demos/Quickstart/QuickStartDemo.tscn

@@ -17,6 +17,10 @@ position = Vector2( 402.346, 573.791 )
 rotation = 1.5708
 collision_mask = 2
 script = ExtResource( 3 )
+speed_max = 900.0
+acceleration_max = 4200.0
+rotation_speed_max = 360
+rotation_accel_max = 1280
 bullet = ExtResource( 4 )
 
 [node name="CollisionPolygon2D" type="CollisionPolygon2D" parent="Player"]
@@ -37,6 +41,10 @@ rotation = 1.5708
 collision_layer = 2
 collision_mask = 5
 script = ExtResource( 2 )
+speed_max = 600.0
+acceleration_max = 2800.0
+angular_speed_max = 360
+angular_acceleration_max = 1280
 
 [node name="CollisionPolygon2D" type="CollisionPolygon2D" parent="Agent"]
 polygon = PoolVector2Array( 0, -32, -24, 32, 24, 32 )

project/demos/SeekFlee/SeekFleeDemo.gd

@@ -4,8 +4,8 @@ extends Node
 enum Mode { FLEE, SEEK }
 
 export (Mode) var behavior_mode := Mode.SEEK setget set_behavior_mode
-export (float, 0, 2000, 40) var linear_speed_max := 200.0 setget set_linear_speed_max
+export (float, 0, 1000, 30) var linear_speed_max := 200.0 setget set_linear_speed_max
-export (float, 0, 500, 0.5) var linear_accel_max := 10.0 setget set_linear_accel_max
+export (float, 0, 2000, 40) var linear_accel_max := 10.0 setget set_linear_accel_max
 export (float) var player_speed := 600.0 setget set_player_speed
 
 var camera_boundaries: Rect2

project/demos/SeekFlee/SeekFleeDemo.tscn

@@ -20,6 +20,8 @@ extents = Vector2( 965.654, 10 )
 
 [node name="SeekFleeDemo" type="Node"]
 script = ExtResource( 3 )
+linear_speed_max = 570.0
+linear_accel_max = 1160.0
 
 [node name="BackgroudLayer" parent="." instance=ExtResource( 8 )]
 

project/src/Agents/GSAIKinematicBody2DAgent.gd

@@ -38,19 +38,19 @@ func _apply_steering(acceleration: GSAITargetAcceleration, delta: float) -> void
 		MovementType.COLLIDE:
 			_apply_collide_steering(acceleration.linear, delta)
 		MovementType.SLIDE:
-			_apply_sliding_steering(acceleration.linear)
+			_apply_sliding_steering(acceleration.linear, delta)
 		_:
 			_apply_position_steering(acceleration.linear, delta)
 
 	_apply_orientation_steering(acceleration.angular, delta)
 
 
-func _apply_sliding_steering(accel: Vector3) -> void:
+func _apply_sliding_steering(accel: Vector3, delta: float) -> void:
 	var _body: KinematicBody2D = _body_ref.get_ref()
 	if not _body:
 		return
 		
-	var velocity := GSAIUtils.to_vector2(linear_velocity + accel).clamped(linear_speed_max)
+	var velocity := GSAIUtils.to_vector2(linear_velocity + accel * delta).clamped(linear_speed_max)
 	if apply_linear_drag:
 		velocity = velocity.linear_interpolate(Vector2.ZERO, linear_drag_percentage)
 	velocity = _body.move_and_slide(velocity)
@@ -63,7 +63,7 @@ func _apply_collide_steering(accel: Vector3, delta: float) -> void:
 	if not _body:
 		return
 		
-	var velocity := GSAIUtils.clampedv3(linear_velocity + accel, linear_speed_max)
+	var velocity := GSAIUtils.clampedv3(linear_velocity + accel * delta, linear_speed_max)
 	if apply_linear_drag:
 		velocity = velocity.linear_interpolate(Vector3.ZERO, linear_drag_percentage)
 	# warning-ignore:return_value_discarded
@@ -77,7 +77,7 @@ func _apply_position_steering(accel: Vector3, delta: float) -> void:
 	if not _body:
 		return
 		
-	var velocity := GSAIUtils.clampedv3(linear_velocity + accel, linear_speed_max)
+	var velocity := GSAIUtils.clampedv3(linear_velocity + accel * delta, linear_speed_max)
 	if apply_linear_drag:
 		velocity = velocity.linear_interpolate(Vector3.ZERO, linear_drag_percentage)
 	_body.global_position += GSAIUtils.to_vector2(velocity) * delta
@@ -90,7 +90,11 @@ func _apply_orientation_steering(angular_acceleration: float, delta: float) -> v
 	if not _body:
 		return
 		
-	var velocity = angular_velocity + angular_acceleration
+	var velocity = clamp(
+		angular_velocity + angular_acceleration * delta,
+		-angular_acceleration_max,
+		angular_acceleration_max
+	)
 	if apply_angular_drag:
 		velocity = lerp(velocity, 0, angular_drag_percentage)
 	_body.rotation += velocity * delta

project/src/Agents/GSAIKinematicBody3DAgent.gd

@@ -38,19 +38,19 @@ func _apply_steering(acceleration: GSAITargetAcceleration, delta: float) -> void
 		MovementType.COLLIDE:
 			_apply_collide_steering(acceleration.linear, delta)
 		MovementType.SLIDE:
-			_apply_sliding_steering(acceleration.linear)
+			_apply_sliding_steering(acceleration.linear, delta)
 		_:
 			_apply_position_steering(acceleration.linear, delta)
 
 	_apply_orientation_steering(acceleration.angular, delta)
 
 
-func _apply_sliding_steering(accel: Vector3) -> void:
+func _apply_sliding_steering(accel: Vector3, delta: float) -> void:
 	var _body: KinematicBody = _body_ref.get_ref()
 	if not _body:
 		return
 		
-	var velocity := GSAIUtils.clampedv3(linear_velocity + accel, linear_speed_max)
+	var velocity := GSAIUtils.clampedv3(linear_velocity + accel * delta, linear_speed_max)
 	if apply_linear_drag:
 		velocity = velocity.linear_interpolate(Vector3.ZERO, linear_drag_percentage)
 	velocity = _body.move_and_slide(velocity)
@@ -63,7 +63,7 @@ func _apply_collide_steering(accel: Vector3, delta: float) -> void:
 	if not _body:
 		return
 		
-	var velocity := GSAIUtils.clampedv3(linear_velocity + accel, linear_speed_max)
+	var velocity := GSAIUtils.clampedv3(linear_velocity + accel * delta, linear_speed_max)
 	if apply_linear_drag:
 		velocity = velocity.linear_interpolate(Vector3.ZERO, linear_drag_percentage)
 	# warning-ignore:return_value_discarded
@@ -77,7 +77,7 @@ func _apply_position_steering(accel: Vector3, delta: float) -> void:
 	if not _body:
 		return
 		
-	var velocity := GSAIUtils.clampedv3(linear_velocity + accel, linear_speed_max)
+	var velocity := GSAIUtils.clampedv3(linear_velocity + accel * delta, linear_speed_max)
 	if apply_linear_drag:
 		velocity = velocity.linear_interpolate(Vector3.ZERO, linear_drag_percentage)
 	_body.global_position += velocity * delta
@@ -90,7 +90,11 @@ func _apply_orientation_steering(angular_acceleration: float, delta: float) -> v
 	if not _body:
 		return
 		
-	var velocity = angular_velocity + angular_acceleration
+	var velocity = clamp(
+		angular_velocity + angular_acceleration * delta,
+		-angular_acceleration_max,
+		angular_acceleration_max
+	)
 	if apply_angular_drag:
 		velocity = lerp(velocity, 0, angular_drag_percentage)
 	_body.rotation.y += velocity * delta